Axes Group Variables - Omron NY532-1500 Reference Manual

Axes Group Variables

The variable names of the system-defined Axes Group Variables are _MC_GRP[0..31]. The data type
is _sGROUP_REF, which is a structure.
In the descriptions of functions, _MC_AX[*] is used as an example.
Name
_MC_GRP[0..31]
Status
Ready
Disabled
Standby
Moving
Stopping
ErrorStop
Details
Idle
InPosWaiting
NY-series Motion Control Instructions Reference Manual (W561)
Data type
_sGROUP_REF Axes Group Variable
_sGROUP_REF_STA Axes Group Status
BOOL Ready-to-execute
BOOL Axes Group Disabled
BOOL Standby
BOOL Moving
BOOL Deceleration Stopping
BOOL Error Deceleration Stop-
ping
_sGROUP_REF_DET
Axes Group Control Status
BOOL Idle
BOOL In-position Waiting
2 Variables and Instructions
Meaning
TRUE when the axes group is stopped and is
ready to execute. The condition for being ready
to execute is an AND of the following condi-
tions.
• Execution of the MC_Stop instruction is not
in progress for a composition axis.
• _MC_GRP[*].Status.Standby (standby) is
TRUE.
• The Servo is ON for the composition axes.
• _MC_AX[*].Details.Homed is TRUE (home
defined) for the composition axes.
TRUE when the axes group is disabled and
stopped. The following axes group status are
mutually exclusive. Only one of them can be
TRUE at a time.
Disabled, Standby, Moving, Stopping, or Error-
Stop
TRUE when the axes group motion instruction
is stopped.
This is not related to the Servo ON/OFF status
of the composition axes in the axes group.
TRUE while an axes group motion instruction
is executed toward the target position.
This includes in-position waiting status and
when the velocity is 0 for an override.
TRUE until the axes group stops for an
MC_GroupStop instruction. This includes
when Execute is TRUE after the axis stops for
an MC_GroupStop instruction. Axes group
motion instructions are not executed while
decelerating to a stop. (CommandAborted is
TRUE.)
TRUE while the axes group is stopping or
stopped for the MC_GroupImmediateStop
instruction or during an axes group minor fault
(when _MC_GRP[*].MFaultLvl.Active is
TRUE). Axes group motion instructions are not
executed in this state (CommandAborted is
TRUE).
*1
TRUE when processing is not currently per-
formed for the command value, except when
waiting for in-position state.
Idle and InPosWaiting are mutually exclusive.
They cannot both be TRUE at the same time.
TRUE when any of the composition axes are
waiting for in-position state. The in-position
check performed when positioning for the in-
position check.
Function
*2
2-9
2